MISC

査読有り 筆頭著者
2020年

Fine Torsion Torque Control for Geared Motors by a State-Reference-Dependent Variable-Order Friction Observer.

IEEE International Symposium on Industrial Electronics
  • Juan Padron
  • ,
  • Yusuke Kawai
  • ,
  • Yuki Yokokura
  • ,
  • Kiyoshi Ohishi
  • ,
  • Toshimasa Miyazaki

2020-June
開始ページ
543
終了ページ
548
記述言語
英語
掲載種別
研究発表ペーパー・要旨(国際会議)
DOI
10.1109/ISIE45063.2020.9152469
出版者・発行元
IEEE

© 2020 IEEE. Controlling torsion torque in geared motors is essential for precise control of load-side dynamics. An I-P torsion torque controller (TTC) structure combined with a friction observer based on the disturbance observer has been previously proposed for this means. However, in motors with strong nonlinear friction, this method is not able to quickly compensate nonlinear friction when rotation direction changes, severely affecting the torsion torque control performance. This paper proposes a variable-order friction observer with a switching law based on the motor-side velocity (state) and torque command (reference) that is able to compensate for the effects of friction in the torsion torque response, while also preventing limit cycles due to the friction compensation itself. First, a review of the conventional I-P TTC with zero-order friction observer method is given. Followed by this we explain the decomposition process of a high-order friction observer into a variable-order form. Next, a stability analysis of the variable-order friction observer is done. Then, appropriate switching functions are designed to effectively compensate friction and prevent limit cycles. Finally, the effectiveness of the proposed method is proven by numerical simulation results and experimental results with a 1 DOF robotic arm.

リンク情報
DOI
https://doi.org/10.1109/ISIE45063.2020.9152469
DBLP
https://dblp.uni-trier.de/rec/conf/isie/PadronKYOM20
URL
https://dblp.uni-trier.de/conf/isie/2020
URL
https://dblp.uni-trier.de/db/conf/isie/isie2020.html#PadronKYOM20
Scopus
https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85089545375&origin=inward
Scopus Citedby
https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=85089545375&origin=inward
ID情報
  • DOI : 10.1109/ISIE45063.2020.9152469
  • DBLP ID : conf/isie/PadronKYOM20
  • SCOPUS ID : 85089545375

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